Design and Motion Verification of Underactuated Adaptive Three-Fingered Gripper Using Magnetic Coupling

초록

This paper presents an underactuated adaptive three-fingered robotic gripper that utilizes magnetic coupling to replace traditional springs. By leveraging magnetic coupling for non-contact power transmission and deformation recovery, the gripper can perform adaptive motions. In this paper, the gripper is designed to incorporate magnetic couplings and experimentally validate their effectiveness. Each finger of the gripper is designed with a linkage mechanism equipped with magnetic coupling, enabling interaction between fingers for automatic realignment and adaptive motion. Magnetic coupling is applied to the input shaft connected to the joint, allowing all three fingers to be driven by a single motor, thus enabling coordinated adaptive motion across fingers. Before conducting the experiment, the arrangement of the magnets in the magnetic coupling was verified, and the transmitted torque was confirmed. The experiment involved designing objects that induce decoupling in the magnetic coupling to observe the motion and current behavior. Future research aims to develop a gripper capable of grasping various objects based on the proposed concept.

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